/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2023 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "printf.h"

#include "usmart.h"
#include "ABS_key.h"
#include "C_code_Log.h"
#include "display.h"
#include "globalTime.h"
#include "menu.h"
#include "motor.h"
#include "oled.h"
#include "usart_port.h"
#include "gyro.h"
#include "camera.h"
#include "color.h"
#include "jq8400.h"
#include "servo.h"
#include "bsp_can.h"
#include "deke_motor.h"
#include "IT_Callback.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
void game_direct();
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
USART_Data usartDebug;
uint8_t USART_buf[200];
const uint8_t runMethodTable[][100] = {
    // {1, 2, 3, 4, 3, 5, 10, 11, 10, 12, 6, 8, 6, 7, 6, 41, 15},
    // {1, 2, 3,4},
    // {3, 4, 3, 5},
    // {23,24,23,22,21},
    // {14,9,5,2},
    // {30,50,28,25,26,29},
    // {26,29,27,29,26,23,24},
    // // {23,22,21,20,18,19,18,17,16},
    // {7,6,41,15,37},
    // {14,37,15},
    // {7,9,15,37},
    // {7,9,13,15,37},
    // {7,6,15,37},
    // {7,6,14,37},
    // // {42,14,37},
    // // {39,15,37},
    // // {17,16,15,9,5,2},
    // // {17,16,14,9,5,2},
    // {17,16,14,13,6,5,2},
    // // {17,16,14,6,5,2},

    // {17,16,44,45,46,47,46,43,48,16,14,15},

     {1,2,3,4,3,5,10,11,10,12,6,8,6,7,6,41,15,37,15,31,32,31,30,50,28,25,26,29,27,29,26,23,
     24,23,22,21,20,18,19,18,17,16,44,45,46,47,46,43,48,16,14,13,6,5,2,1,2},
};  // 路线图
//    {1, 2, 3, 4, 3, 5, 7,12,9,15,37,15,30,50,28,25,26,29,27,29,26,25,23,24,23,22,21,20,17,14,15,9,5,2,1,2},
//    {12,9,39,15}
//};  // 路线图
const uint8_t runMethodTable2[][100]={
     // {1, 2, 3,4},测试案例
 //39
  {1,2,3,4,3,5,10,11,10,12,6,8,6,7,9,15,37/**/,15,31,32,31,30,50,28,25,26,29,27,29,26,23,
     24,23,22,21,20,18,19,18,17,16,44,45,46,47,46,43,48,16,15,9,5,2/**/,1,2},
  //40
  {1,2,3,4,3,5,10,11,10,12,6,8,6,7,9,13,15,37/**/,15,31,32,31,30,50,28,25,26,29,27,29,26,23,
     24,23,22,21,20,18,19,18,17,16,44,45,46,47,46,43,48,16,14,9,5,2/**/,1,2},
  //41
  {1,2,3,4,3,5,10,11,10,12,6,8,6,7,6,15,37/**/,15,31,32,31,30,50,28,25,26,29,27,29,26,23,
     24,23,22,21,20,18,19,18,17,16,44,45,46,47,46,43,48,16,14,13,6,5,2/**/,1,2},
  //42
  {1,2,3,4,3,5,10,11,10,12,6,8,6,7,6,14,37/**/,15,31,32,31,30,50,28,25,26,29,27,29,26,23,
     24,23,22,21,20,18,19,18,17,16,44,45,46,47,46,43,48,16,14,6,5,2/**/,1,2},
  //基础路线
  {1,2,3,4,3,5,10,11,10,12,6,8,6,7,6,41,15,37,15,31,32,31,30,50,28,25,26,29,27,29,26,23,
     24,23,22,21,20,18,19,18,17,16,44,45,46,47,46,43,48,16,14,13,6,5,2,1,2},

};//第二次奔跑的路线图测试案例
//  /*第一个是绿*/{1,2,3,4,3,5,7,12,9,39,15,14,15,9,5},
//   /*第二个是绿*/ {1,2,3,4,3,5,7,12,9,40,13,15,14,9,5},
//  /*第三个是绿*/{1,2,3,4,3,5,12,7,6,41,15,14,13,6,5},
//  /*第四个是绿*/{1,2,3,4,3,5,12,7,6,14,15,14,6,5},
const uint8_t runMethodDoor[][100]={
  // {39,9,40,13,15},
  // {40,9,6,41,13,15},测试案例
//   /*第二个是绿*/ {39,9,40,13,15,14,9,5},    测试案例
//  /*第三个是绿*/{40,9,6,41,15,14,13,6,5},
//	 /*第四个是绿*/{41,6,42,14,6,5},
//	/*第三个是黄*/{41,15,14,6,5},	

  {39,9,13,15,37,15,31,32,31,30,50,28,25,26,29,27,29,26,
  23,24,23,22,21,20,18,19,18,17,16,/*16,44,45,46,47,46,43,48,16,*/14,9,5,2,1,2},//39非绿走40

  {39,15,37,15,31,32,31,30,50,28,25,26,29,27,29,26,
  23,24,23,22,21,20,18,19,18,17,16,/*16,44,45,46,47,46,43,48,16,*/14,9,5,2,1,2},//39为黄 出发39 回来40

  {41,6,42,14,37,15,31,32,31,30,50,28,25,26,29,27,29,26,
  23,24,23,22,21,20,18,19,18,17,16,/*44,45,46,47,46,43,48,16,*/14,6,5,2,1,2},//41非绿走42

  {42,6,9,39,15,37,15,31,32,31,30,50,28,25,26,29,27,29,26,
  23,24,23,22,21,20,18,19,18,17,16,/*16,44,45,46,47,46,43,48,16,*/15,9,5,2,1,2},//42非绿走39
};//红绿灯切换的路线图
uint8_t runMethodNum = 0;
#if (GAME_MODE ==FIND_TREASURE)//如果是寻宝模式
//宝物位置，表示方法，0：没有宝物，1：有宝物
uint8_t Treasure[9];
#endif

DEKE_CONFIG_T Motor_c = {.encoder_handle = &htim1,.PWM_handle = &htim8,.tim_channel_1 = TIM_CHANNEL_3,.tim_channel_2 = TIM_CHANNEL_4};
DEKE_TypeDef Motor;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM1_Init();
  MX_TIM6_Init();
  MX_USART6_UART_Init();
  MX_USART1_UART_Init();
  MX_TIM4_Init();
  MX_TIM8_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM5_Init();
  MX_SPI1_Init();
  MX_TIM9_Init();
  MX_TIM12_Init();
  MX_UART5_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  MX_I2C1_Init();
  MX_CAN1_Init();
  /* USER CODE BEGIN 2 */

  SEGGER_RTT_Init();
  display_Init();
	
  // key_init();
  log_set_all_fmt();
  log_init();
  MotorInit();
  EncoderInit();
  HAL_TIM_Base_Start_IT(&htim6);
  USART_DataTypeInit(&usartDebug, &huart6, USART_buf, sizeof(USART_buf), 0, NULL);
  gyro_init();
  camera_init();
  colorInit();
  JQ8400_SetVoiceMax();
  ServoInit(); 
  LOG_INFO("你好世界");

  usmart_init(168);
  printf(__TIME__);
  HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_2);
  runMethodNum = sizeof(runMethodTable) / sizeof(runMethodTable[0]);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1) {
    TIM6_pollCall(getGlobalTime());
    menuDisplay();
    // game_direct();
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
// coding.c

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1) {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line
     number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
     line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
